Load the URDF to the resource_manager before parsing it to CM (backport #222) #28

	name: ign_ros2_control CI - Humble

	on:
	pull_request:
	branches: [ humble ]
	push:
	branches: [ humble ]

	jobs:
	build:
	runs-on: ubuntu-latest
	strategy:
	matrix:
	version: [fortress]
	env:
	IGNITION_VERSION: ${{ matrix.version }}
	container:
	image: ubuntu:22.04
	steps:
	- uses: actions/checkout@v4
	- name: Setup colcon workspace
	id: configure
	run: \|
	export DEBIAN_FRONTEND=noninteractive
	apt update -qq
	apt install -qq -y lsb-release wget curl gnupg2
	cd ..
	mkdir -p /home/ros2_ws/src
	cp -r gz_ros2_control /home/ros2_ws/src/
	sh -c 'echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list'
	curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \| apt-key add -
	apt-get update && apt-get upgrade -q -y
	apt-get update && apt-get install -qq -y \
	dirmngr \
	python3-colcon-ros \
	python3-colcon-common-extensions \
	python3-rosdep \
	build-essential
	cd /home/ros2_ws/src/
	rosdep init
	rosdep update
	rosdep install --from-paths ./ -i -y --rosdistro humble --ignore-src
	- name: Build project
	id: build
	run: \|
	cd /home/ros2_ws/
	. /opt/ros/humble/local_setup.sh
	colcon build --packages-up-to ign_ros2_control_demos gz_ros2_control_tests
	- name: Run tests
	id: test
	run: \|
	cd /home/ros2_ws/
	. /opt/ros/humble/local_setup.sh
	colcon test --event-handlers console_direct+ --packages-select ign_ros2_control ign_ros2_control_demos gz_ros2_control_tests
	colcon test-result

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